The Queen will on Sunday begin her final journey as her coffin travels to Edinburgh before being flown to London ahead of her state funeral.
Thousands are expected to queue through the night to pay their last respects.
The plans were unveiled as it was revealed on Saturday night that Queen Elizabeth’s state funeral will be held on Monday next week – which has also been declared a bank holiday.
Six gatekeepers who had “a personal relationship” with the monarch will this morning carry her oak coffin from the Ballroom at Balmoral Castle, where she died, to a hearse for a journey of just over 100 miles.
On Sunday afternoon she will be received at the Palace of Holyroodhouse in Edinburgh – the monarch’s official Scottish residence – by a Guard of Honour formed by The Royal Regiment of Scotland.
The journey, normally around two hours, will take three times as long to allow wellwishers to share their grief along the route.
A military bearer party from the regiment will carry the coffin to the Throne Room, where it will remain until Monday afternoon to allow palace staff to pay respects.
On Monday, King Charles and Camilla will travel to the city to join members of the Royal Family in a walking procession, taking the coffin at 2.35pm along Edinburgh’s Royal Mile from the Palace to St Giles’ Cathedral.
The hearse will be flanked by a detachment of The King’s Body Guard for Scotland, the Royal Company of Archers.
The Crown of Scotland will be placed on the coffin as it is carried inside. There, she will lie at rest until Tuesday – the first opportunity for the public to pay their respects.
On Saturday night the Earl Marshal, The Duke of Norfolk – responsible for State occasions – said: “We will carry out our duty with the heaviest of hearts. But also with the firmest of resolve to ensure a fitting farewell to one of the defining figures of our times.”
On Tuesday evening, Princess Anne will accompany her mother’s body on an RAF flight back to London and on to Buckingham Palace, to be greeted by Charles and Camilla.
On Wednesday at 2.22pm, adorned with the Imperial State Crown, the coffin will be taken in procession on a Gun Carriage of the King’s Troop Royal Horse Artillery to the Palace of Westminster, where she will lie in state in Westminster Hall for four days.
Hundreds of thousands of mourners are expected to line the route of the silent procession, similar to the state funeral of her father, King George VI, in 1952.
The Queen will lie in state until 6.30am on Monday, when the coffin will be taken to Westminster Abbey for her state funeral.
After the funeral she will travel to Windsor Castle, where she will be laid to rest in St George’s Chapel alongside Prince Philip.
The route the coffin will take
Details of the route the Queen's coffin will take from Balmoral to Edinburgh have been revealed.
The cortege is expected to leave the castle on Royal Deeside - where the Queen died on Thursday - at 10am on Sunday morning.
Scottish First Minister Nicola Sturgeon said the "poignant" journey, which will see the Queen's coffin transported to the Palace of Holyroodhouse, would give the public a chance to come together to "mark our country's shared loss".
Wellwishers are expected to gather along the route the cortege will take as it travels from Balmoral to the Scottish capital.
It will first head to the nearby town on Ballater, where it is expected at approximately 10.12am.
It is then expected to arrive in Aberdeen about an hour later, with tributes expected to be paid in the city's Duthie Park.
Travelling south along the A90, it will then arrive in Dundee at about 2pm.
In Edinburgh, Ms Sturgeon and other party leaders in Scotland are expected to observe the coffin as it goes past the Scottish Parliament.
From there it will be taken into the Palace of Holyroodhouse, where it will remain for the night.
Transport bosses said an "unprecedented" amount of preparation and planning had gone into drawing up the route, which marks the start of the Queen's last journey.
Ms Sturgeon stated: "Her Majesty's death at Balmoral Castle means Scotland has lost one of its most dedicated and beloved servants.
"The grief we have seen across the world has been profound and deeply touching. It will be especially poignant to see Her Majesty's coffin begin its journey from her Aberdeenshire home to the Palace of Holyroodhouse in Edinburgh.
"This is a chance for people to gather together publicly and begin to mark our country's shared loss."
The First Minister added: "We anticipate many, many people will be keen to pay their respects and we ask them to observe public safety messaging to ensure the safety of all."
Transport Scotland operations manager Stein Connelly echoed that - as he warned road closures on Sunday could result in delays and disruption.
He urged those planning to come and see the coffin on its journey to "please plan ahead and use public transport where possible"
Mr Connelly added: "If you absolutely have to travel by car, allow extra time and only park within designated areas."
He continued: "This is an event of unprecedented scale. Even the recent Cop26 gathering in Glasgow cannot match the amount of preparation and planning that has gone into this operation."
Well-wishers are being asked by police not to leave vehicles by the roadside, as this could pose a risk to public safety, with people instead being encouraged to park in designated car parks.
Police Scotland Deputy Chief Constable Malcolm Graham said policing has "an important role to play" over the coming days.
He said: "The loss of Her Majesty The Queen is deeply felt and policing has an important role to play in the coming days to ensure ceremonial events take place safely and with dignity.
"Our priority is public safety and we are working with partners, including the UK and Scottish governments, as well as local authorities, to support the delivery of planned events."
Mr Graham added that the authorities are working with businesses to plan ahead for any potential disruption as a result of the events.
He added: "We understand that the public will want to show their respects to Her Majesty and we would urge them to do so safely."
After the coffin arrives at the Palace of Holyroodhouse on Sunday, it will rest in the Throne Room until the afternoon of Monday.
It will then travel in a procession to St Giles' Cathedral, Edinburgh, along the Royal Mile with the King and the late Queen's other children the Princess Royal, the Duke of York and the Earl of Wessex following behind on foot, along with Anne's husband Admiral Sir Tim Laurence.
Camilla, now Queen Consort, and the Countess of Wessex will follow by car and also attend the service in St Giles'.
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